基于改进花授粉算法的时间最优轨迹研究

鲍君华1; 郑力群2; 3

基于改进花授粉算法的时间最优轨迹研究

引用本文：鲍君华1，郑力群2，3.基于改进花授粉算法的时间最优轨迹研究[J].计算技术与自动化,2025,(3):133-140

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作者	单位
鲍君华1，郑力群2，3	（1.大连交通大学轨道交通装备设计与制造技术国地联合工程研究中心,辽宁大连 116028；2.大连交通大学机械工程学院,辽宁大连 116028；3．中车戚墅堰机车车辆工艺研究所股份有限公司,江苏常州 213011）

中文摘要:在搬运机械臂轨迹优化领域，引入了花朵授粉算法并加以改进。利用Piecewise分段映射初始化种群，采用动态转换概率，平衡算法进行全局搜索或局部搜索的权重，对优化结果施加扰动以摆脱陷入局部最优解的状态。在符合机械臂运动学和自身结构的约束下，利用3-5-3插值多项式规划时间最优的机械臂轨迹。与FPA、PSO和改进PSO算法进行对比。实验结果显示，改进后的花朵授粉算法具有快速收敛和高精度的特点，机械臂的关节运动时间较预设时减少了50%，且优化后的运动曲线光滑无突变，算法的可靠性得到了验证，机械臂的工作效率得到提升。

中文关键词:工业机器人轨迹规划改进花朵授粉算法时间最优

Research on Time Optimal Trajectory Based on Improved Flower Pollination Algorithm

Abstract:In the field of trajectory optimization of the manipulator arm, a flower pollination algorithm is introduced and improved. The population is initialized by Piecewise mapping, and the weights of global search and local search are entered by dynamic transformation probability balance algorithm, and the optimization results are disturbed to get rid of the state of local optimal solution. Under the constraints of the kinematics and the structure of the manipulator, the 3-5-3 interpolation polynomial is used to plan the trajectory of the manipulator with the optimal time. Compared with FPA, PSO and improved PSO algorithm. Experimental results show that the improved flower pollination algorithm has fast convergence speed and high precision, the joint movement time of the robot arm is reduced by 50% compared with the preset time, and the optimized motion curve is smooth without mutation, the reliability of the algorithm has been verified, and the working efficiency of the robot arm has been improved.

keywords:industrial robots trajectory planning improved flower pollination algorithm time optimal

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